High-speed low noise CCD controller

ABSTRACT

Disclosed herein is a camera system and camera controller having a modularized design. Camera control functions within the controller are distributed among a number of modules, each module performing a component task of controlling a camera. Individual modules can perform tasks such as generating clock signals, digitizing an analog video signal, and providing multiplexed digital video output. Modules communicate with each other over a common bus sufficient to carry the signals necessary to control the camera. The system implements a RAM-based digital sequencer that provides the capability of loading bit patterns into memory and using these patterns to generate waveforms for clocking a CCD. Clock and readout sequences can be composed in a high level language, compiled and uploaded into the controller. Adjustable clamp and sample signal delays used in digitizing an analog video signal provide the capability to optimize the performance of the system in a given application.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a U.S. nonprovisional application filedpursuant to Title 35, United States Code §§100 et seq. and 37 C.F.R.Section 1.53(b) claiming priority under Title 35, United States Code§119(e) to U.S. provisional application No. 60/387,316 filed Jun. 7,2002 naming Charles A. Bleau and Raymond C. DuVarney as inventors.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates generally to charge coupled devices (CCDs), MOS,and other pixel sensor arrays, cameras, controllers, imaging systems,and methods of controlling and operating the same. The invention isdirected to a controller and camera system having a modularizedarchitecture making it extensible to all known types of CCDs and otherpixel sensor arrays. The present invention is particularly well suitedfor use in scientific imaging applications such as adaptive optics,wavefront sensing, interferometry, fringe tracking, and neuroscienceresearch. The small form factor with remote head of the presentinvention also makes the system ideally suited to microscopyapplications, applications with limited space near the optical path, andapplications sensitive to thermal disturbance.

2. Description of the Related Art

CCDs (Charge Coupled Devices) are semiconductor imaging devices that areessentially an array of photo-sensitive capacitors controlled by a gridof wires. Bias voltages are used to power the device and clock voltagesare used to move the charge through the device. Frame transfer CCDs havean image array and one or more serial registers. The image accumulatesas photo-electrons are generated by light incident on the device. Ashutter is generally employed to prevent streaking while the image istransferred to the serial register(s) through which the pixels areshifted out to an output driver one pixel at a time. Frame storage CCDsalso have an image (frame) store, lessening the requirement for ashutter. Interline CCDs are similar, but have a storage pixel for eachimage pixel within the image array. The storage pixels, however, take upspace within the image and they therefore result in the disadvantage ofthe image pixels not being contiguous.

A CCD camera is generally comprised of a CCD and a CCD controller. Theyare frequently housed in the same enclosure, especially in consumerapplications, but are also commonly housed separately in highperformance and specialty applications. The CCD controller provides thebias voltages, the clock voltages, output driver(s), and must clock theCCD in a manner that achieves image integration and readout. In the caseof digital cameras, the analog voltage(s) from the output(s) must alsobe digitized.

There are many parameters that must be considered when evaluating theperformance of a CCD or a CCD camera. These include CCD well depth (thenumber of electrons that can be stored in each pixel); the readnoise (afundamental property of the CCD output amplifier which is frequencydependent); the dark current noise (a fundamental property of the bulksilicon, which is temperature dependent); the pixel rate (the frequencyat which the pixels are output); the frame rate and the frame size.

There are many CCD camera designs extant in the consumer and scientificdomains. Consumer CCD camera design choices are generally influenced byconsumer-driven ideals of attractive appearance and acceptableperformance, and scientific CCD cameras are generally designed with aspecific application in mind and support a limited number of CCDs in asingle form factor. Consumer grade CCDs and CCD cameras typically striveto deliver the highest resolution image at an acceptable visual quality.Scientific CCD cameras are typically designed to minimize readnoise at adesired readout rate while maximizing dynamic range.

Many of the technologies used in prior art cameras are becomingobsolete. One of the major disadvantages of the prior art is thedifficulty in achieving the very highest performance in terms of smallform factor, high frame rate and low readnoise with a variety ofdifferent CCDs due to the diversity of CCD input and outputrequirements.

SUMMARY OF THE INVENTION

The invention, in its various embodiments, overcomes the disadvantagesnoted hereinabove with respect to previous technologies, and achievesadvantages heretofore not possible.

The camera controller of the present invention comprises a bus connectedto a number of modules. The modules can communicate over the shared busin controlling a camera head. The controller comprises a command modulethat can generate a waveform and transmit the waveform on the bus andcan include an input module that can receive an analog video signal froman image pixel array, convert the signal into digital video data, andtransmit the digital video data on the bus.

The camera controller can comprise a clock driver module that modifiesthe voltage levels of a clock signal to create a driver level output tobe used to clock an image pixel array. Power can be supplied to the busby an external power supply, and a service module can be included thatprovides power and bias voltages to a camera head. Additionally, thecamera controller can comprise an output module for controlling theoutput of digital video data to an external device.

The camera controller of the present invention can be configured tocontrol multiple image pixel arrays at the same time. Multiple imagearrays can be used to perform three dimensional or stereo imaging.

A command module of the present invention comprises random accessmemory, a microcontroller and a programmable logic device configured tooperate as a digital sequencer. The command module can transmitwaveforms on the bus along with bits that contain control information.Among other uses, the control bits can indicate the start of a new frameof video data, and the start of a new line of video data. Using I²Cserial protocol, the command module can communicate with other moduleson the bus to, for example, set an offset voltage in an input module,the gain of an amplifier in an input module, or choose a filter settingin an input module.

Digital sequences can be uploaded to the command module and stored inRAM. The RAM can be subdivided into Control RAM containing programs, andSequence RAM containing sequence data. Additionally, the command modulecan comprise flash RAM for storing control parameters and sequence data.A command module can include an integration accumulation register thatcontrols the time that the image pixel array is exposed to a lightsource before the accumulated data is read out.

The command module can include an external interface to allow anexternal device to select a program to be run by the command module. Theexternal interface can also allow the camera controller to besynchronized with other devices. Additional output signals such asstart-of-integration and start-of-sequence signals can be provided onthe external interface to allow for more robust external synchronizationand control.

Input modules of the present invention can use correlated doublesampling in digitizing an analog video signal from a camera head. Theinput modules can additionally include clamp and sample delay circuitsto allow for optimization of camera performance. These circuits canallow for the delay of clamp and sample signals in one quarternanosecond increments. Furthermore, a high speed shunt can be includedthat allows the low pass filters of the input module to be bypassed inorder to speed the relaxation of a CCD output from a reset pulse. Thehigh speed shunt can comprise an operational amplifier having a highspeed enable.

The clock driver modules of the present invention comprise adjustablevoltage regulators which can be adjusted to match the clock outputs ofthe camera controller to the input requirements of a CCD. A firstvoltage level can be set and then a voltage span can be set. By settingthe clock driver voltage levels in this manner, the likelihood ofaccidentally damaging a CCD can be reduced.

A camera head of the present invention comprises a preamplifier and animage pixel array. The preamplifier can be used to provide a standardphoton responsivity from the image pixel array as well as conditioninginput clocks and bias voltages.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of one embodiment of the invention includingthe Camera Control Unit and Camera Head.

FIG. 2 shows the controller bus and the component buses which itcomprises.

FIG. 3 shows an embodiment of the Controller Bus.

FIG. 4A is a block diagram of a Command Module of the present invention.

FIG. 4B shows an implementation of the special interface connector ofthe Command Module.

FIG. 4C is a flowchart showing the operation of an embodiment of aCommand Module.

FIG. 4D is a flowchart showing the operation of an embodiment of aCommand Module utilizing an Integration Accumulation Register.

FIG. 4E shows twenty (20) exemplary digital patterns according to thepresent invention. In the example patterns shown, each pattern comprisestwenty-four bits.

FIG. 4F and 4G show 13 exemplary digital sequencer output waveformsaccording to the present invention along with a corresponding exemplarycontrol code. In the waveforms shown, the image array waveforms (I1, I2,I3), and the storage array waveforms (S1, S2, S3) are constant.

FIG. 4H shows the exemplary digital sequencer output waveforms accordingto the present invention along with an exemplary waveform of pixelcharge output by a CCD.

FIG. 5 is a block diagram of a Service Module according to the presentinvention.

FIG. 6A is a block diagram of a Clock Driver Module of the presentinvention.

FIG. 6B shows a Voltage Adjustment Subsystem of a Clock Driver Moduleaccording to the invention.

FIG. 6C shows a Switching Subsystem of a Clock Driver Module accordingto the invention.

FIG. 7A is a block diagram of an Input Module of the present invention.

FIGS. 7B and 7C together depict a functional block diagram of an InputModule of the present invention.

FIG. 7D shows an embodiment of the High Speed Shunt of the presentinvention.

FIG. 8 is a block diagram of an Output Module of the present invention.

FIG. 9 is a block diagram of a Camera Head of the present inventionincluding a Preamplifier Module and a CCD.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The description of the preferred embodiments of the present inventionwill hereinafter refer to the drawings, in which like numerals indicatelike elements throughout the several figures.

In FIG. 1, a general block diagram of a system 100 in accordance withthe invention is shown. Camera System 100 comprises Camera Control Unit(CCU) 102 and at least one Camera Head 104. CCU 102 comprises ControllerBus 122, Command Module 106, one or more Clock Driver Modules 108, oneor more Service Modules 110, one or more Input Modules 112, and one ormore Output Modules 116. The modules can be interfaced to the ControllerBus 122 through Connectors 300. Camera Head 104 comprises Preamplifier120 and CCD 118. Command Module 106 includes a RS-232 interface forcommunication with external devices as well as transistor-transistorlogic (TTL) level inputs and outputs that support external hold forcontrol of the CCU by external devices and synchronization with externaldevices.

Command Module 106 directs the operation of CCU 102. Command Module 106can communicate with an external device or devices via an RS-232 serialport and can also communicate via TTL level outputs further describedherein. For purposes of illustration, the RS-232 and TTL levelinterfaces are shown connected to external computer 122, butcommunication with the Camera System 100 can be accomplished through anydevice supporting TTL level connections and/or those compliant with theRS-232 serial interface standard. Further, it is not necessary that thetwo interfaces are connected to the same device or to any device. CameraSystem 100 can be controlled externally or function as a standalonesystem.

Clock Driver Module(s) 108 converts the TTL level clocking sequenceinformation it receives over Controller Bus 122 to driver level outputsthat are in turn provided to Camera Head 104. Service Module 110 inputsbasic power sources from external Power Supply 126 and provides derivedpower to modules in CCU 102 on Controller Bus 122. It also providesadjustable bias voltages and other power to Camera Head 104 necessaryfor various functions of Camera Head 104 such as power for athermoelectric cooling device (TEC). Service Module 110 can also includeone or more dedicated circuits for receiving telemetry such astemperature and pressure data from Camera Head 104 as well as circuitryfor CCD heater control in embodiments using liquid nitrogen cooling.Input Module(s) 112 receive video data from Camera Head 104 and makethis data available in a digital format on Controller Bus 122. OutputModule(s) 116 manage the output of video data from the camera systemutilizing a demultiplexed data output format or a standard AIA interfaceor other digital protocol output format. As dictated by the AIA standardand others, Output Modules(s) 116 can include an RS-232 interface. Forpurposes of illustration, the RS-232 interface and the output data linesare shown connected to external computer 124, but communication withCamera System 100 can be accomplished through any device supportingthese interfaces. Further, it is not necessary that the RS-232 interfacebe connected to the same device as the output data lines or to anydevice. In addition, computer 122 and computer 124 could potentially be(and commonly are) the same device.

Controller Bus

Controller Bus 122 can be implemented using a backplane configurationthat interfaces with each module of CCU 102. The Controller Bus can be ameans for communicatively connecting a plurality of modules forcontrolling a camera head. In FIG. 2, Controller Bus 122 is shown infurther detail. Controller Bus 122 incorporates all the featuresrequired to control a wide range of scientific CCDs, MOS-based, andother pixel sensor arrays. Controller Bus 122 comprises at least 6sub-buses: Digital Power Bus 202, Analog Power Bus 204, I²C Serial Bus206, RS-232 Serial Bus 208, Digital Sequencer Bus 210, and Image DataBus 212.

Digital Power Bus 202 provides +5V and Digital Ground to all theconnections on the Controller Bus 122, providing power to the digitalcircuits within the camera. Digital circuits are notoriously noisy andit is important to isolate them from the analog circuits to minimizereadnoise.

Analog Power Bus 204 provides +12V, −12V, +5V, −5V, +24V and AnalogGround to all the connections on the Controller Bus 122 to provide powerto the analog circuits within CCU 102. Other analog voltages that may berequired can be derived from these voltages. It is generally morepractical to use a +12V, −12V, +5V triple output external Power Supply126 and derive −5V and +24V on Service Module 110. However, ServiceModule 110 can be configured to allow the −5V and +24V supplies to beexternal also.

I²C Serial Bus 206 is a two-wire bus well known in the art and is usedto communicate with any and all modules that have multiple settings orreadable devices. Examples include selecting gains on an Input Module,or modes on an Output Module, as well as setting the heater control andreading temperatures and vacuum on a Service Module. Communicationoccurs at a relatively low speed and relatively infrequently. Becausethe I²C Bus operates at a relatively low speed compared to system clockfrequencies it can operate asynchronously with the camera withoutgenerating electrical noise.

RS-232 Serial Bus 208 is for the purposes of external control. This isan important feature for the purpose of making the controllercomputer-controllable, but platform-independent. Command Module 106hosts an RS-232 serial bus controller. However, since RS-232 Serial Bus208 is part of Controller Bus 122, RS-232 Serial Bus 208 is available onthe system backplane, and connection can be made to any module that usesit.

Digital Sequencer Bus 210 is used to control high speed events in thecamera. These are typically clocks, including the system clock, thatcontrol the CCD clock inputs, dedicated signals such as Clamp, Sampleand Turbo, and special control bits. The clocks are used to shift chargethrough cells, registers, and the like in the CCD. Clamp, Sample andTurbo signals are used in digitizing the video output from the CCD.Clamp and Sample signals are used to implement Correlated DoubleSampling, and the Turbo signal is used to control a filter bypass shunt.The function of each of these signals will be discussed later in detail.The special control bits are used to control the flow of, and indicatethe meaning of the image data generated within the camera.

Image Data Bus 212 is used to propagate the image data as it isgenerated. The control bits indicate the meaning of the image data andwill be described later.

Controller Bus 122 can take a variety of physical forms. In a preferredembodiment, circuit boards which conform to a standard 3U 160 mm (halfheight) form factor are used. The slot spacing for such boards is 0.8inches (or 4 HP). Circuit boards and industry standard enclosures areavailable in 7, 10, 15, and 21 slot configurations. In a preferredembodiment a 7-slot board is used to form the backplane of CCU 102 toimplement Controller Bus 122.

In FIG. 3, a ninety-six conductor implementation of Controller Bus 122is shown. The backplane Connector 300 has ninety-six conductors. Theconductors can be separated into thirty-two conductor groups designated300A, 300B, and 300C.

The conductors labeled SCLK (A1) and SDAT (A2) form I²C Serial Bus 206.The conductors labeled TXD (A3) and RXD (A4) form RS-232 Serial Bus 208.Conductors labeled RSV0-RSV7 (A5-A9), and (C3-C5) are reserved in thisembodiment and are not used. Conductors OOR (A10), and IMG0-IMG15(A11-A26) form Image Data Bus 212. Conductors labeled DGND (A27, B1-B27,C2, C27) and +5VD (A28, B28, C28) form Digital Power Bus 202. Conductorslabeled AGND (A29,B29, C29), +12V (A30, B30, C30), −12V (A31, B31, C31),+5VA (A32), −5VA (B32), and +24V (C32) form Analog Power Bus 204.Conductors labeled CLK (C1), CCU0-CCU2 (C6-C8), TURBO (C9), CLAMP (C10),SAMPLE (C11), and CLK1-CLK15 (C12-C26) form Digital Sequencer Bus 210.

The Controller Bus architecture enables different camera designs forcorresponding image sensor arrays. The modularized design of the CameraControl Unit 102 is now described.

Command Module

FIG. 4A is a block diagram of a Command Module 106 according to thepresent invention. Command Module 106 comprises Microcontroller 400, anRS-232 Serial Interface 401, PLD 402, Oscillator 406, Random AccessMemory (RAM) 408. Digital Sequencer 404 is implemented in PLD 402. RAM408 comprises Static RAM 410 and Flash RAM 418. Sequence RAM 412 isimplemented in Static RAM 410 and comprises Control RAM 414 and PatternRAM 416. Command Module 106 also includes an RS-232 interface and TTLlevel inputs and outputs for external control and monitoring functions.The TTL level inputs and outputs are provided at connector 420. CommandModule 106 interfaces with Controller Bus 122.

By means of Microcontroller 400 and PLD 402, Command Module 106implements RS-232 and I²C serial interfaces, interfaces with fast StaticRAM (SRAM 410) and Flash RAM 418, and a high speed Digital Sequencer404. Oscillator 406 provides a clock signal to Digital Sequencer 404.Oscillator 406 provides a clock signal to the PLD 402 to run the DigitalSequencer 404, the same clock signal being divided for use at theMicrocontroller 400 clock. In a preferred embodiment the Oscillator 406outputs a 50 Mhz clock signal to a 24-bit Digital Sequencer resulting ina resolution of 20 ns for each signal. PLD 402 is preferably a Xilinx™9500 series CPLD due to the availability of hard-wired versions forspace flight and their suitability to the fast, wide buses and countersof a CCU according to the present invention. Other PLDs, however, may beused.

The RS-232 serial interface allows communication with external devicesand enables external control by means of the AIA or any other StandardProtocol for digital cameras. The physical connection may be madethrough any module that supports it. In a preferred embodiment CommandModule 106 supports the RS-232 physical connection via an externallyaccessible panel connector such as a DB9 connector.

The I²C serial interface is used by Command Module 106 to control andquery other modules on Controller Bus 122. This is a simple two-wirebus, well known in the art, that allows for control of settings such asgain or offset and reading of temperature without using the DigitalSequence Bus or the Image Data Bus.

Digital Sequencer 404 resides in PLD 402 and uses data in fast StaticRAM 410 to generate clock signals. Digital Sequencer 404 reads data inStatic RAM 410 and generates a TTL level clock signal with a logicalvalue of “0” or “1” corresponding to the data read from Static RAM 410.The Microcontroller 400 can upload digital patterns through the RS-232Interface and store them in Flash RAM 418 or fast Static RAM 410.Arrangements of these digital patterns form digital sequences. Digitalsequences are written to provide clock signals to an image pixel arrayand other signals synchronous with those clock signals that are designedto facilitate the reading of image data from the image pixel array.These sequences can be written in a simple hierarchical high-levellanguage. The resulting code can then be compiled using a sequencecompiler to generate the actual bit patterns to be loaded into StaticRAM 410. The bits of the patterns are mapped to, and communicated onrespective lines of the Digital Sequencer Bus 210 to other modules inthe CCU 102. In one embodiment, each pattern is 24-bits wide withtwenty-one bits of the sequence patterns mapped to Digital Sequencer Bus210, on Controller Bus 122. The bits mapped to Digital Sequencer Bus 210include image pixel array clock signals, signals such as Clamp, Sampleand Turbo, and control bits. Additional bits within the sequence areused to control looping within the sequence itself. Hence PLD 402 cangenerate a digital sequence that repeats after completion of the outputof the sequence to generate a variety of repetitive signals of varyingcomplexity.

CCD cameras generally use state-machine-based sequencers that rely onsequential logic to generate the clock patterns, or DSP-based sequencersthat use software to generate the clock patterns on the fly. The formerhas the disadvantage of being impossible to program arbitrarily, and thelatter has difficulties with speed and complexity. The memory-basedDigital Sequencer of the present invention has the advantages that thecontents of the memory are programmable and can be changed with ease.There is a limitation in terms of overall unique sequence length due tothe word length of the memory or register storing the sequence, but thisis true of all sequencers.

Sequences can be uploaded to Command Module 106 through the RS-232Serial Port. Alternatively, or in addition, one or more of the sequencescan be stored in Flash RAM 418. This is also true of the varioussettings within the controller, such as gain or offset which will bedescribed later. The Microcontroller 400 can copy Sequences stored inFlash RAM 418 and store them in Sequence RAM 412.

Sequence RAM 412 comprises Control RAM 414 and Pattern RAM 416. In oneembodiment, Control RAM 414 is 8-bits wide and is segmented into eightprograms 428, each of which has a list of 16,384 Pattern Blockaddresses. In one embodiment, Pattern RAM 416 is twenty-four bits wideand is segmented into one-hundred twenty-eight blocks, each of which hasa list of 1,024 bit patterns. The programs can be used to control a CCDin different ways. Programs can be written to control the CCD to performdifferently depending on the application such as operating the CCD in abinning mode, or slowing down the frame and pixel rates in limited lightconditions.

Program selection and synchronization of the controller to an externaldevice, or vice versa, is often desirable in science. For this purpose,Command Module 106 provides this utility through an interface connector.Signals indicating Start of Sequence (SOS) and Start of Integration(SOI) are provided as TTL level outputs and a RUN signal is input as aTTL level signal. In addition, three program selector bits (PRO, PR1,PR2) are provided as TTL level inputs to allow program selection by anexternal device “on-the-fly”. Program selection made “on-the-fly”, asused herein, is defined as a program selection where the current programbeing executed by the controller can be changed in real-time. That is,the controller will complete executing the current program and beingexecuting the newly selected program upon receiving the selection froman external device. FIG. 4B shows an embodiment of interface connector420 implemented using a standard mini-DIN connector. Using thisinterface, the camera can respond to external events in selecting whichCCD clocking mode to use in order to read the image at the correct time,or to discard image data that are unwanted. This interface can also beused, for example, to synchronize several cameras to one master cameraby using one or more bits from the sequencer in the master camera systemto control the other cameras.

FIG. 4C is a flowchart depicting the operation of an embodiment ofCommand Module 106. At step S440 a program is selected from among theeight programs stored in Control RAM 414. Program selection can be madeby Microcontroller 400 or by an external device using the PRO, PR1, andPR2 signals of Connector 420. At S442, PLD 402 writes the Control RAMaddress that corresponds to the beginning of the selected program toControl Counter 422. At S444, PLD 402 reads the Control RAM data at theControl RAM address indicated by Control Counter 422. Each 8-bit Controlbyte is comprised of a 7-bit Pattern Block address, allowing up to 128Pattern Blocks, and a loopback bit. Hence, the data at this Control RAMaddress is a Pattern RAM address indicating the address of a pattern tobe executed. PLD 402 writes this Pattern RAM address to Pattern Counter424. At S446, PLD 402 reads the pattern data at the Pattern RAM addressindicated by Pattern Counter 424. PLD 402 writes this data to DigitalSequencer Bus 210. At S448, PLD 402 checks to see if the patternloopback bit in pattern data is set. If the pattern loopback bit is notset, PLD 402 increments Pattern Counter 424 at S450 and returns to S446.If the pattern loopback bit is set at S452, PLD 402 checks to see if thecontrol loopback bit stored in Control Counter 422 is set. If thecontrol loopback bit is not set, PLD 402 increments Control Counter 422at S454 and returns to S444. If the control loopback bit is set, PLD 402returns to S442.

There are two basic phases to reading an image out of a CCD. The firstis image integration while the CCD is exposed to the image source, andthe second is the readout. In frame storage or interline CCDs, thesephases can overlap substantially and there may not even be a separateintegration phase. However, during a separate integration phase, DigitalSequencer 404 can either stop clocking the CCD, or it can execute aspecial integration pattern. This is especially useful when a ditheringtechnique can be used to minimize dark current within the CCD duringlong integration periods. The last pattern executed in each program isdefined to be the integration pattern. The integration pattern can bewritten to cause the CCD to perform functions such as emptying the CCDframe store or exercising one or more CCD serial registers. Anintegration accumulation register can be set to repeat the integrationpattern. In one embodiment, the integration accumulation register is 14bits wide allowing the integration pattern to be repeated up to 16,384times, giving extremely fine control over exposure times.

In operation, Integration Accumulation Register 426 is set to an initialvalue equal to the number of times that the integration pattern is to beexecuted. At the end of the execution of the integration pattern,Integration Accumulation Register 426 is decremented. If, after beingdecremented, Integration Accumulation Register 426 is not zero, theintegration pattern is executed once more. The integration pattern isexecuted repeatedly, until Integration Accumulation Register 426 hasbeen decremented to zero at which time the program ends. The totallength of the integration pattern will be the initial value inIntegration Accumulation Register 426 multiplied by the length of oneintegration pattern.

FIG. 4D shows a flowchart depicting the operation of Command Module 106in an embodiment using an Integration Accumulation Register 426.Operation proceeds as in FIG. 4C as described above until step S452. AtS452, PLD 402 reads the control loopback bit currently stored in ControlCounter 422. If the control loopback bit is not set, then operationcontinues as described in FIG. 4C. If the control loopback bit is set,however, PLD 402 then checks Integration Accumulation Register 426 tosee if the register's value is zero at S460. If the value in theIntegration Accumulation Register 426 is equal to zero, PLD 402 returnsto S442. If the value in Integration Accumulation Register 426 is notequal to zero, PLD 402 decrements Integration Accumulation Register 426,and writes the address of the beginning of the integration sequence toPattern Counter 424 in step S462. Following S462, PLD 402 returns tostep S446.

Control Codes

Control Codes are formed by three bits within the sequence patterns andare used to control the flow of, and indicate the meaning of, the imagedata generated within the camera. Each pattern in the Pattern RAM 416has these three control code bits. The control code bits are loaded intoRAM as part of the sequence patterns. NULL is used to indicate the nullcondition and is generally ignored by all modules; SOF (Start of Frame)indicates that a new frame is about to begin and is used by externaldevices to determine when the data from a new frame is about to arrive;SOL (Start of Line) indicates that a new line is about to begin, resetsthe input channel counter and is used by external devices to determinewhen a new line of data is about to arrive; LATCH is used to latch thedata from all the Analog to Digital (A/D) converters in the InputModules; READ is used to put the current input channel data onto theImage Data Bus and increment the input channel counter; SKIP is used toincrement the input channel counter and to indicate that the currentinput channel is being skipped; DATA READY is used to signal that allchannels have been read and to reset the input channel counter; andRESERVED is reserved for future use to indicate a multi-word code,making the code set extensible.

In an embodiment, these codes NULL, SOF, SOL, LATCH, READ, SKIP, DATAREADY, and RESERVED are represented by the bit patterns 000 through 111respectively. It should be understood that all modules which aredesigned to manipulate data must have their own input channel counterthat uses the codes to keep track of the current input channel so thatit can identify the data that it is meant to receive. The operation ofthese codes is discussed further by module as relevant.

FIG. 4E shows twenty (20) exemplary digital patterns according to thepresent invention. In the example patterns shown, each pattern comprisestwenty-four bits. Eight bits are unused and are set at a logic levelhigh, these are the eight most significant bits shown in the figure.Three bits (I1, I2, I3) are mapped an image array of a CCD. Three bits(S1, S2, S3) are mapped to a storage array of a CCD. Three bits (R1, R2,R3) are mapped to a serial register of a CCD. One bit (G) is mapped tothe reset gate of a CCD. The three bits lableled (S, C, t) correspond toSample, Clamp, and turbo signals respectively and are not supplied to aCCD, but are part of the digital pattern conveyed on the Controller Bus122. The remaining three bits (collectively labeled Cmd) contain controlcodes as described above. The control code bits are not supplied to aCCD, but are part of the digital pattern conveyed on the Controller Bus122. The image array bits, storage array bits, serial register bits, andreset gate bit are used to generate signals for clocking a CCD imagearray.

FIGS. 4F and 4G show 13 exemplary digital sequencer output waveformsaccording to the present invention along with a corresponding exemplarycontrol code. In the waveforms shown, the image array waveforms (I1, I2,I3) , and the storage array waveforms (S1, S2, S3) are constant. In theexample shown, a CCD serial register is being read so the image andstorage arrays are not being clocked. The serial register waveforms (R1,R2, R3) are changing as these signals are input to a CCD's serialregister to move pixel charge off of the CCD to be read.

FIG. 4H shows the exemplary digital sequencer output waveforms accordingto the present invention along with an exemplary waveform of pixelcharge output by a CCD. From its peak level at 480, the pixel chargewaveform has an abrupt downward spike. This is the reset spike 482 andas can be seen, occurs at the time the reset gate signal is asserted.From its lowest level at 484, the pixel charge waveform shows a risethat begins to level off. This rise occurs due to the CCD output beingclamped to an offset voltage. The waveform approaches the value of theoffset voltage. At 486, the waveform begins to rise more abruptly due topixel charge being moved to the output. After this rise toward a peakvalue the pixel charge value will be sampled. After the charge issampled, the reset clock will be asserted. As can be seen in FIG. 4H,the assertion of the Clamp, Sample, and Turbo signals do not necessarilycorrespond in time to the above described pixel charge waveform events.It should be understood that this is due to a lag in the response of aCCD to the signals supplied to it and the CCD's providing thecorresponding output to an input module as described below. By adjustingthe point in time at which the Clamp and Sample signals are asserted,the readnoise performance of a camera system can be improved. Uniquely,in this invention, as described below, the timing of the Clamp andSample signals can be delayed incrementally to improve the performanceof the camera system.

The Service Module

CCDs require bias voltages to power them. Scientific CCD camerascommonly require special circuits to power devices such asthermoelectric coolers (TECs), heaters and vacuum detectors, and tomeasure temperatures by means of thermistors. These circuits requireconfigurable analog voltages. Because each circuit is capable ofinjecting electrical noise into the system, consideration must be givento ensure that noise injection is minimized and does not significantlyimpact the pixel data derived from the CCD.

FIG. 5 shows a block diagram of a Service Module 110 of the presentinvention. Service Module 110 comprises Power Supply 500, and DigitalDetector Circuits 502. Power Supply 500 comprises Digital Power Supply504, Analog Power Supply 506, and additional Power Circuits 508 forpowering one or more heaters, TECs, and vacuum detectors. DigitalDetector Circuits 502 include Temperature Circuits 510, Vacuum/PressureCircuits 512, and I²C analog-to-digital converter/digital-to-analogconverter (ADC/DAC) circuit 514.

Controller Bus 122 is supplied with power by external Power Supply 126.Service Module 110 interfaces with Controller Bus 122 providingconditioned power to the other modules through the Controller Bus 122 ofCamera Control Unit 102. Analog and digital power is provided onController Bus 122 by Service Module 110 to each connection point on thebackplane enabling Service Module 110 to supply power to other modulesin the system. Analog and digital power is provided to Camera Head 104of the system via external connector 516. A range of adjustable biasvoltages are available to operate a variety of CCDs. In addition to thepower and bias voltages provided to Camera Head 104, the externalconnector can also carry the temperature and vacuum pressure data fromCamera Head 104 to Service Module 110 as well as a heater control signalfrom I²C ADC/DAC 514.

In a preferred embodiment, Analog Power Supply 506 of Service Module 110can provide a maximum of three voltages to 24V, two voltages to +12V,and two voltages down to −12V as well as analog ground. However, sincethe 24V is derived from a DC-DC converter in the preferred embodiment,even this limit is configurable. This range of bias voltages issufficient to power a wide range of CCDs, but if more bias voltages wererequired, or if multiple CCDs were to be controlled, then additionalService Modules may be used to provide the necessary voltages.

Service Module 110 includes power supply circuits for a broad range ofheaters, TECs, and vacuum detectors. In addition, Service Module 110includes digital detection circuits to measure as many as threetemperatures and vacuum pressure indicated by a standard thermocouplevacuum detector. I²C ADC/DAC 514 is used to interface with I²C SerialBus 206 of Controller Bus 122. An eight-bit digital-to-analog converter(DAC) controlled through I²C Serial Bus 200 can be used to provideheater control. Internal case temperature, CCD temperature and vacuumdata can be made available on I²C Serial Bus 206 through an eight-bitanalog-to-digital converter (ADC).

The Clock Driver Module

FIG. 6A is a block diagram of a Clock Driver Module 108 of the presentinvention. Clock Driver Module 108 comprises one or more VoltageAdjustment Subsystems 600, Voltage Selection Matrix 602, and SwitchingSubsystems 604. The embodiment shown in FIG. 6A includes seven VoltageAdjustment Subsystems and fifteen Switching Subsystems.

Clock Driver Module 108 is designed to drive a wide variety of CCDs withminimal modification through configuration. In the embodiment shown inFIG. 6A, up to seven voltage pairs can be provided, and these can bejumpered through Voltage Selection Matrix 602 into as many as fifteenclock output drivers of Switching Subsystems 604. Uniquely, in thisembodiment, each voltage pair is adjusted by setting the lower voltageand then setting the span voltage up to a maximum span. In a preferredembodiment this maximum span is 16V. Prior art adjustable controllersadjust the high and low voltages independently, which can result indamaging the CCD if the voltages become reversed or exceed the maximumrated difference. In this embodiment according to the present invention,if a CCD were to require more clocks, or if multiple CCDs were to becontrolled, then additional Clock Driver Modules can be used.

Refering to FIG. 6B, Variable Regulator 606 of Voltage AdjustmentSubsystem 600 can be adjusted to produce a voltage level, V_(low), thelower level voltage that is to be supplied by this subsystem. VariableRegulator 608 can then be used to set the voltage span level, V_(span),such that the upper level of the voltage that it to be supplied by thissubsystem equals V_(low)+V_(span). In the preferred embodiment there areseven of these Voltage Adjustment Subsystems 600 within Clock DriverModule 108.

The upper and lower voltage levels produced by each of the VoltageAdjustment Subsystems 600 are supplied to Voltage Selection Matrix 602as shown in FIG. 6A. Voltage Selection Matrix 602 allows these voltagepairs to be supplied to a number of Switching Subsystems 604. In thepreferred embodiment there are fifteen of these Switching Subsystems 604within Clock Driver Module 108.

Referring to FIG. 6C, a Switching Subsystem 604 is shown. A TTL levelclock signal from Digital Sequencer Bus 210 is sent to Level Shifter610. Level Shifter 610 conditions the signal level of the TTL levelclock such that it is an appropriate input for CCD Driver 612. Thissignal is sent to CCD Driver 612 which then outputs a driver level clockoutput having a low clock signal level of V_(low) and a high clocksignal level of V_(low)+V_(span) where V_(low) and V_(low)+V_(span)correspond to the voltage pair supplied to the given Switching Subsystem604 by a Voltage Adjustment Subsystem 600 selected via the VoltageSelection Matrix 602. In a preferred embodiment, CCD Driver 612 is anElantec™ 2-phase high speed CCD driver part no. US-EL7182.

Input Modules

In general, Input Modules 112 function to receive the video signals fromCamera Head 104 and convert them to digital data. Although many CCDshave a single video output, a number of scientific CCDs have multipleoutputs in order to increase the maximum frame rate relative to thepixel rate, which is what determines the minimum readnoise. InputModules 112 may can have one or more video channels. Also, multipleInput Modules may be used for multiple output CCDs. Furthermore,multiple CCDs can be controlled by a single controller. Any or all ofthese options can be implemented in any given Input Module 112.

Ideally, a scientific CCD camera should exhibit a number of properties.A scientific CCD camera should have a range of at least two gainsettings such that the lowest gain allows the observation of the maximumCCD signal, and the highest gain allows resolution of individualelectrons generated by photons incident to the CCD. The lowest gainvaries by CCD. The highest gain varies by the A/D converter used toconvert the analog electric signal from photon excited electrons, into adigital electric signal. In general, the highest gain is 0.5 electronsper Data Number (the unit of resolution of the A/D converter). Ascientific CCD camera should also run at a variety of frame and pixelrates and thus have several selectable low pass filters. Additionally,the video amplifier response should be linear and capable ofcalibration. The CCD camera system of the present invention exhibitsthese desired traits. Input Modules 112 according to the presentinvention have configurable gain stages and low pass filters. The videoamplifier response of an Input Module 112 according to the presentinvention is linear and can be calibrated.

FIG. 7A is a block diagram of an Input Module according to the presentinvention. Input Module 112 interfaces with Controller Bus 122 andreceives analog video data from Camera Head 104. Input Module 112comprises Configurable Gain Stage(s) 700, Configurable Low PassFilter(s) 702, High Speed Shunt 704, Delay Circuitry 706, Input ModuleController 712, ADC Submodule 720, Clamp Circuit 724 and Offset Circuit726. Input Module Controller 712 comprises I²C I/O Controller 714 andPLD 716. An Input Channel Counter 715 is implemented in the PLD 717.Delay Circuitry 706 comprises Clamp Delay 708 and Sample Delay 710. ADCSubmodule 720 includes ADC Connector 730 and an Analog-to-DigitalConverter (ADC) 722.

Input Modules 112 according to the present invention have ConfigurableGain Stages 700 and Configurable Low-Pass Filters 702 to allow for avariety of pixel frequencies and CCD well-depths or dynamic ranges.Input Modules 112 feature pluggable ADC Submodules 720 for theAnalog-to-Digital converter(s) (ADC) 722. ADC(s) can be chosen withminimal effort and expense for different bit resolutions and speeds toaccommodate different signal-to-noise range requirements or componentshortages. By providing a plug in connector 730 for ADC Submodule 720, aspecific ADC deemed acceptable for a particular application can beplugged in to Input Module 112. Input Module 112 can use CorrelatedDouble Sampling to minimize the effect of reset noise on the output.Configurable Low-pass Filters 702 are designed to minimize the noise atthe selected readout frequencies. These, however, limit the response ofthe camera when binning pixels together to increase the speed and thesignal-to-noise ratio. A special High Speed Shunt 704 with 75 nsswitching times allows the effective removal of the filter in order topass high speed signals during binning, and during relaxation from thereset pulse.

The timing and duration of the Clamp signal and the timing of the Samplesignal relative to Reset effects the readnoise from the CCD. Accurateadjustments to the timing and duration of the Clamp signal and thetiming of the Sample can be used to reduce readnoise from the CCD. Inthis regard, the clock frequency of 50 MHz results in a relatively cruderesolution of 20 ns. Uniquely, in this embodiment, both the Clamp andSample signals are run through digital delay lines that allow adjustmentof their phases relative to Reset in increments of 0.25 ns. It isimportant that the delays are made in proximity to the level at whichthe signal is being clamped and sampled since there is variation in thetime of arrival of the video signal relative to the time of arrival ofthe sequence bits due to delays in the cables from Input Modules 112 tothe camera head, the CCD itself, and the filters on Input Modules 112.The digital delay lines are controlled through the I²C Serial Bus 206.

Command Module 106 controls the gain and filter selections via the I²CSerial Bus 206. The filter and gain settings are communicated to PLD 716on Input Module 112. PLD 716 communicates these settings to theconfigurable gain stages and configurable low-pass filters where relaysin the configurable gain stages and relays in the configurable low-passfilters are operated to set the gain and filter time constant,respectively. The states of the gain and filter selections can be storedin Flash RAM 418 in the Command Module 106. Similarly, the offset valuesand the clamp and sample delay settings can also be stored in Flash RAM418. Input Channel Counter 717 is used by the PLD 716 to keep track ofthe current input channel so that by counting SKIP and READ codes asdescribed above, the Input Module 112 can determine when image datashould be written to the Image Data Bus 212.

Asserting the Reset clock can lead to feedthrough onto the video signalthat greatly exceeds the magnitude of the video signal from the pixel.The low pass filters in the analog video chain that are selected inorder to minimize the readnoise for a particular pixel rate must berelaxed in order to allow clamping of the reset pulse. This leads to theclamping period dominating the pixel cycle and an increase in theeffective pixel rate and the readnoise. Uniquely in this design, a highspeed shunt with a switching time of less than 75 ns is used to allowthe video signal to relax quickly from the reset condition. This allowsmuch more aggressive low-pass filtering and achieves lower readnoise.

Referring now to FIG. 7B, I²C I/O Controller 714 interfaces with I²CSerial Bus 206 of Controller Bus 122. I²C I/O Controller 714communicates PLD 716. In one embodiment, I²C I/O Controller 714 is aPhillips Semiconductor™ PCF8574 8-bit I²C I/O Controller, and an Xilinx™XC95108 CPLD is used as PLD 716. I²C I/O Controller 714 can transfer anumber of settings transmitted on I²C Serial Bus 206 to PLD 716. Thesesettings include the filter selection, gain selection, clamp delay,sample delay, and offset voltage settings. PLD 716 then directs theproper device to assume the indicated setting. PLD 716 can direct OffsetCircuit 726 to output the desired offset voltage. Fine control of theoffset voltage allows the maximization of the dynamic range of thesignal and also enables equalization of multiple video channels whennecessary. In one embodiment, the offset voltage is a 10-bit value andOffset Circuit 726 is a 10-bit D/A converter such as an Analog Devices™model AD7397. The output of Offset Circuit 726, the filter selection,the gain selection, the clamp delay setting, and the sample delaysetting as well at the video output from Camera Head 104 are shown beingcarried over to FIG. 7C. In addition, the Turbo, Clamp, and Samplesignals from Controller Bus 122 are also carried over to FIG. 7C.

Referring now to FIG. 7C, the signals carried over from FIG. 7B areshown being supplied to one of two video processing channels of oneembodiment of an Input Module 112 according to the present invention.The offset voltage from Offset Circuit 726 of FIG. 7B is shown beinginput to Clamp Circuit 724. The Clamp signal and Clamp Delay Setting areshown as being input to Clamp Delay 708. The Sample signal and theSample Delay Setting are shown as being input to Sample Delay 710. ClampDelay 708 and Sample Delay 710 allow the Clamp and Sample signals to bedelayed in 0.25 nanosecond increments. In one embodiment the Clamp andSample Delay Settings each comprise eight bits and a DallasSemiconductorm model DS1020 delay line is used as Clamp Delay 708 andanother for Sample Delay 710. The output of Sample Delay 710 is sent toADC 722 of ADC Submodule 720. The output of Clamp Delay 708 is sent toClamp Circuit 724.

The Filter Selection and Gain Selection settings from PLD 716 are sentto Configurable Low Pass Filters 702 and Configurable Gain Stages 700respectively. In one embodiment, the Filter Selection setting comprisestwo bits allowing for the selection of one of four time constants forConfigurable Low Pass Filters 702. In one embodiment, the Gain Selectionsetting comprises two bits allowing for the selection of one of fourgain settings for Configurable Gain Stages 700. Video from Camera Head104 is input to Configurable Gain Stages 700. The output of ConfigurableGain Stages 700 is sent to Configurable Low Pass Filter 702. The TurboSignal of Controller Bus 122 is input to High Speed Shunt 704. HighSpeed Shunt 704, if closed, will bypass Configurable Low Pass Filters702. High Speed Shunt 704 is closed by assertion of the Turbo Signal.

Input Modules 112 of the present invention utilize Correlated DoubleSampling when digitizing the video signal by capacitively coupling thevideo signal and clamping it to an offset voltage using a Clamp signalthat is part of the sequence. The outputs of Configurable Low PassFilter 702 and High Speed Shunt 704 are shown capacitively coupled tothe output of Clamp Circuit 724. When operated, Clamp Circuit 724 willclose and clamp the capacitively coupled Video Signal from either theConfigurable Low Pass Filters 702 in the case that High Speed Shunt 704is open or the High Speed Shunt 704 in case High Speed Shunt 704 isclosed, to the Offset Voltage. Clamp Circuit 724 is closed by assertionof the Clamp Signal (plus any delay added thereto by Clamp Delay 708).In one embodiment, a field effect transistor such as a Vishay™ SD210 isused as Clamp Circuit 724. In response, Clamp Circuit 724 holds theClamp signal in an “on” state until the video signal is pulled to theclamp voltage level and defines the lower limit of the video signal thatis digitized. Then the Clamp signal is removed and the pixel charge ismoved onto the output of the CCD and the voltage level will rise inproportion to the charge in the pixel. ADC 722 converts this analogvoltage into digital data in response to by assertion of the Samplesignal that is also part of the sequence (plus any delay added theretoby Sample Delay 710). ADC 722 places the digital video data on ImageData Bus 212 of Controller Bus 122. The Reset clock is then asserted andthe cycle starts over again.

One possible embodiment of High Speed Shunt 704 can use an analogswitch. Another alternative embodiment, however, is to use anOperational Amplifier (Op Amp) with high speed enable. FIG. 7D depictsthe latter embodiment of High Speed Shunt 704. In this embodiment, theHigh Speed Shunt 704 comprises an Operational Amplifier (“Op Amp”) 728.Op Amp 728 includes a high speed enable, a feature of some commerciallyavailable Op Amps such as the Elantec™ EL2166CN Op Amp. Theon-resistance of the Op Amp is approximately 10 Ohms compared to anon-resistance of approximately 50 ohms if an analog switch were used. Anideal shunt would be a short circuit around the Configurable Low PassFilters 702. The lower on-resistance of this embodiment allows the resetpulse to settle more quickly and thus makes a more effective shunt.

Control codes synchronize the flow of Image Data within Controller Bus122 and within Input Modules 112 in particular. The LATCH code signalsall Input Modules to latch the data from the A/D converters 722 intotheir output latches. Each video channel on each Input Module has aunique number and each Input Module has a current input channel counterthat counts SKIP and READ codes and increments the current channelnumber with each. If a video channel sees a READ and the current channelnumber is its own, it outputs its data onto Image Data Bus 212. Ifinstead it sees a SKIP, or its own channel number is not current, thenit does nothing. This scheme uniquely allows varying numbers of channelsand Input Modules and is especially useful in running multiple CCDs froma single CCD Controller. It has also been used to enable the use ofmultiple Input Modules per CCD output in order to gain different bitresolutions and readout speeds. The current channel number is reset byDATA READY and SOL (Start of Line).

ADC Submodules

In general there is a trade off in A/D converters between speed and bitresolution. There is also a wide variety of A/D converters available atany given speed and bit resolution. These vary in many ways, rangingfrom voltage conversion range, to pipeline depth in the digital readout,to cost. In addition, A/D converters are in a class of semiconductorswhose price and availability is highly variable due to their increasinguse in consumer products and surges in their popularity. For all thesereasons it is best to abstract the AID converter by incorporating itinto ADC Submodule 720 which is provided with a standard connector onInput Module 112. This also leads to an extremely short time to marketfor new A/D converters.

As shown in FIG. 7C, ADC Submodule 720 can be provided with +12V, −12V,and Analog Ground along with the video signal (after it has passedthough the gain and filter stages) and the Sample signal (plus any addeddelay). ADC Submodule 720 provides data to a 16-bit data path with acode signifying the actual bit resolution of the data.

Output Modules

A block diagram of an Output Module 116 according to the presentinvention is shown in FIG. 8. Output Module 116 comprises Output ModuleController 800, Logic Buffers 805, Data Registers 806, LineDrivers/Receivers 808, and Connectors 814, 816, and 818. Output ModuleController 800 comprises I²C Controller 802, and PLD 804. Input ChannelCounter 807 is implemented in PLD 804.

The I²C I/O Controller 802 interfaces with I²C Serial Bus 206 and withPLD 804. Through the I²C Bus, a Command Module 106 can select a mode ofoperation for an Output Module 116. For example, Command Module 106 caninstruct Output Module 116 to output AIA standard data on Connector 818or, alternatively, instruct Output Module 116 to output demultiplexeddata on Connector 816.

PLD 804 receives digital video data from Image Data Bus 212. PLD 804also receives the system clock signal, and control code signals CCU0,CCU1, and CCU2. Using these signals, the PLD can provide a number ofdigital camera output formats to an external device, includingmultiplexed AIA standard video output on Connector 818 or demultiplexedvideo output on Connector 816. It should be understood that Connector816 can comprise a number of connectors, each carrying a subset of thedemultiplexed video data. In one embodiment, Connector 816 comprisesfour connectors.

Logic Buffers 805 receive handshaking data from PLD 804 and make thisinformation available on connector 814. PLD 804 receives control codesignals CCUO, CCU1, and CCU2 from the Digital Sequencer Bus 210. Usingthe control codes and the image data, PLD 804 can derive handshakinginformation. The handshaking data can include dedicated TTL level outputlines for SOF, SOL, and DATA READY. An external device 124 can use thehandshaking information on connector 814 to determine the meaning of thedigital video data it is receiving from Output Module 116.

Data Registers 806 receive demultiplexed video data from the PLD 804 andprovide this data on Connector 816. An external device 124 can interfacewith Connector 816 to receive the demultiplexed video data.

Line Drivers/Receivers 808 interface with Connector 818. An externaldevice 124 can interface with Connector 818 to communicate with OutputModule 116. Line Drivers/Receivers 808 receive multiplexed video datafrom PLD 804. Line Drivers/Receivers 808 provide this data on connector818. Line Drivers/Receivers can receive data from external device 124allowing communication between the external device 124 and Output Module116. In one embodiment, the format of the data output on, and receivedon Connector 816 conforms to an AIA-compatible digital video interface.Connector 818 can also include an interface to RS-232 Serial Bus 206.

A variety of digital camera formats exist that can easily be derivedfrom the SOF, SOL, DATA READY control codes and the Image Data. Digitaldata can be output directly with a digital stream from each output portof a CCD, but data can also be multiplexed and provided in a standardAIA-compatible or other format. This provides platform independencesince there is a wide variety of AIA-compatible and other standarddigital frame grabbers for a number of computer platforms and operatingsystems. In one embodiment, two forms of digital camera interface havebeen implemented in the camera system.

The first interface form is a demultiplexed form where the digital datafrom each channel is presented at connector 816 and overflow andhandshaking information (SOF, SOL, etc) is available at connector 814.This is a simple, efficient and effective means of transmitting the datafor real-time processing. In this case, Output Module 116 counts READand SKIP codes in order to assign the correct port number to the datafor output. In one embodiment, there are four output ports orsub-connectors of connector 816. As described above, the control codeREAD is used to put the current input channel data onto Image Data Bus212 and increment the Input Channel Counter 807. SKIP is used toincrement the input channel counter and to indicate that the currentinput channel is being skipped. Hence, by counting READ and SKIP codesOutput Module 116 can determine which input channel on Input Module 112that the current image data corresponds to and assign the data to thecorrect output port.

The second interface form uses the standard AIA protocol for digitalcameras. This standard is widely used and there is a vast array ofproducts available for a variety of computer platforms and operatingsystems that support the standard. In the case of multiple output CCDsand in controlling multiple CCDs from a single controller, it isparticularly useful to have all the data integrated into a single datastream for the purposes of time registration and data manipulation. TheAIA standard also incorporates an RS-232 serial port and specifies acommand protocol.

Preamplifier Module

FIG. 9 is a block diagram of a Camera Head 104 of the present invention.Camera Head 104 comprises a Preamplifier Module 120, and CCD 118.Preamplifier Module 120 comprises Clock Filters 900, Bias Filters 902,TEC Power Filters 904, and Output Drivers 906. Clock signals from ClockDriver Module 108, and bias voltages, and TEC power from Service Module110 are received by Preamplifier Module 120. Clock Filters 900 removehigh frequency harmonics from the clock signals and limit the clocktransition times. Hence, the clock transition times can be limited asrecommended by the manufacturer of the CCD being used in the camerahead. Bias Filters 902 and TEC Power Filers 904 remove high frequencyharmonics from the bias voltages and TEC power, respectively. Theconditioned Clocks, Biases and TEC Power are provided to CCD 118 byPreamplifier Module 120. CCD 118 preferably includes a TEC device 908 tocool the CCD, minimizing dark current. CCD 118 also preferably includesat least one on-board Thermistor 910 for monitoring the temperature ofthe CCD. The output of Thermistor 910 is provided to Service Module 110.In additional to temperature, vacuum pressure data and other telemetrymay also be provided to Service Module 110. Video output from the CCD issent to Output Drivers 906. Output Drivers 906 are designed to provide astandard responsivity per electron of charge in the CCD. Output Drivers906 are also designed to provide impedence matched output to an InputModule 112.

In one embodiment an e2v Technologies™ (formerly Marconi AppliedTechnologies™) CCD model CCD39 in an integral solid state cooler packageis used as CCD 118. In this embodiment, four video output signals aresent to four Output Drivers 906. Each of the four video signals carriesthe video output from a respective quadrant of CCD 118. Further, asshown in FIG. 1, Camera System 100 can include two Input Modules 112,each Input Module 112 processing the video output from two quadrants ofthe CCD.

Generally, to optimize readnoise performance, it is advantageous to haveCCD 118 and Preamplifier Module 120 in a Camera Head 104 that isseparated from the Camera Control Unit 102 and connected thereto bycables. This also makes it simple to control multiple CCDs from a singleCamera Control Unit 102. Although Preamplifier Module 120 is nottechnically part of Camera Control Unit 102, and does not plug intoController Bus 122, it serves to make the CCD an abstract entity. Itdoes this by conditioning the clocks and biases from Clock DriverModule(s) 108 and Service Module(s) 110, and processing the video outputfrom the CCD to provide a standard responsivity.

The CCD clocks need fast rise times in order to traverse the cablewithout losing integrity. However, these fast rise times can lead tohigh frequency harmonics in Camera Head 104 and generate noise in thesignal. The clocks are therefore conditioned with Clock Filters 900 onPreamplifier Module 120 to achieve the appropriate rise times.Experience has indicated that an optimal value for responsivity from theCCD is twenty microvolts of signal for each electron of charge.Impedance matched Output Drivers 906 send the video signal to CCU 102,preferably over seventy-five ohm cables utilizing standard BNCconnectors.

The system is therefore preferably designed to accommodate astandardized CCD responsivity of twenty microvolts per electron. This isstandard in Massachusetts Institute of Technology (MIT)/LincolnLaboratory CCDs, but other CCDs such as the e2v Technologies™ CCD39require a preamplifier with the appropriate gain and cable drivers asdescribed above. This builds the output personality of the CCD into thecamera head where it is best suited.

Disclosed herein is a high frame rate, low read noise, modular,flexible, relatively inexpensive CCD Controller Toolbox. Also disclosedherein is a high frame rate, low read noise CCD camera for adaptiveoptics, wavefront sensing, interferometry, fringe tracking andneuroscience.

A small form factor, high frame rate, low read noise CCD ControllerToolbox has been developed. Highly modular, versatile and flexible, itis computer platform and operating system independent by design. Thecontroller is based on a bus design to allow development of individualmodules for various aspects of CCD operation. This is particularlyuseful for interfacing the wide range of CCDs available that utilize avariety of clock signals, bias voltages and output port configurations.Initially configured for the e2v Technologies™ (formerly Marconi AppliedTechnologies™) CCD model CCD39, the controller has been tested at framerates of 40 Hz to 1000 Hz and meets or exceeds the CCD manufacturer'sspecifications under all conditions. CCD input personality in the formof bias and clock voltages can be configured through flexible Serviceand Clock Driver Modules. CCD output personality in the form ofimpedance-matching and buffering of video signals is achieved through apersonalized Preamplifier Module that generates a standardized photonresponsivity. The Input Modules can then be customized for the desiredrange of pixel frequencies, dynamic range and signal-to-noise ratio byselection of a handful of components. Versatile clocking and readout isachieved by means of a flexible, programmable sequencer. Due to thecomplete representation of the data on the backplane, output modules canbe expected to accommodate any and all digital camera protocols. Inparticular, the controller supports the standard Automated ImagingAssociation (AIA) protocol for digital camera interfaces for data outputand camera control. The data interface complies with accepted datatransport standards that are widely available across platforms andoperating systems.

Functional separation of the controller into modules allowscustomization by function without a complete redesign. In addition, thebus structure allows for adapting the design for different numbers ofCCD output ports, as well as an open architecture for customer-designedcircuit boards for other functions. The open architecture of the busallows the end user to develop replacement or add-in modules as neededto provide additional features or functions for a variety of camerasystem uses and implementations. Almost all of the discrete logic can bedesigned into programmable logic devices (PLDs), reducing size and powerby an order of magnitude, while offering the flexibility ofprogrammability.

A unique feature of the CCD Controller Toolbox is the ease with which itcan be configured to gain the highest possible performance in terms ofsmall form factor, high speed and low readnoise for a wide variety ofCCDs. Each aspect of CCD control is encapsulated in a specific module.Each module is extremely flexible, and except for the preamplifier, canbe configured to run all known CCDs without redesign. The camera systemhas a small form factor and high performance relative to prior artdesigns in terms of speed and readnoise. Clock and readout sequences canbe composed in a high level language, compiled and uploaded into thecontroller. The bus structure of the design allows the controller to beextended functionally, for example, to support multiple CCDs. Due to itsopen architecture design, the controller can be customized by a systemintegrator or end user by designing additional special purpose modulesor special purpose replacement modules.

The controller and camera head of the present invention are small andlight enough to be suitable for use in adaptive optics systems and onconventional light microscopes. Objectives in the design of the presentinvention include versatility, modularity and developing a small remotehead, rather than the smallest monolithic camera possible. Versatilityand modularity are important in meeting the contrasting needs ofwavefront sensing and fringe tracking, and a small remote head is usefulin very tight optical arrangements as well as in excluding the majorityof the electronics from the necessity of operating in vacuum.

Potential applications include wavefront-sensing for adaptive optics andfringe-tracking for interferometry. Since the camera is small,lightweight and consumes little power, it can easily be adapted tocomply with space flight requirements. It may be implemented by theastronomy community for use in adaptive optics systems. Another majorapplication for the camera is use in neuroscience and other high-speed,low output fluorescence phenomena in a laboratory microscopyenvironment. There are several areas of study that require high-speedimaging of fluorescent dyes in the brain, at rates of the order of1000-5000 frames per second. Study of individual neurons requiressub-millisecond time resolution of extremely small signals and study oflarge neuronal complexes requires extremely high signal-to-noise ratiosat millisecond time resolution of small signals on relatively brightbackgrounds. Binning mode capabilities meeting these frame raterequirements make the camera system ideally suited for theseapplications.

The CCD Controller Toolbox of the present invention is extensible to awide variety of CCDs by design, while allowing the highest possibleperformance of a CCD to be realized. Although the camera can standalone, and can support a variety of output formats, it can becomputer-controlled and can provide calibrated digital data if it is tobe used in science.

Any trademarks listed herein are the property of their respectiveowners, and reference herein to such trademarks is intended only toindicate the source of a particular product or service.

Although the invention has been described herein with reference tospecific embodiments and examples, it is not necessarily intended tolimit the scope of the invention to the specific embodiments andexamples disclosed. Thus, in addition to claiming the subject matterliterally as defined in the appended claims, all modifications,alterations, and equivalents to which the applicant is entitled by law,are herein expressly reserved by the following claims.

1. An apparatus for controlling a camera head, the apparatus comprising:a bus having a plurality of spaced conductors; a plurality of connectorseach having a plurality of interfaces coupled to respective conductorsof said bus; and a plurality of modules coupled to respective connectorsto communicate with one another via the bus to control the camera head,a first one of said modules being configured to generate a waveformsignal to control an image pixel array in the camera head and transmitsaid waveform signal on said bus, and a second one of said modules beingconfigured to receive analog video data from said image pixel array andconvert said analog video data to digital video data and to transmitsaid digital video data on said bus, wherein the apparatus is configuredto control multiple image pixel arrays simultaneously.
 2. The apparatusof claim 1 wherein the first one of said modules is a command module andthe second one of said modules is an input module.
 3. The apparatus ofclaim 1 wherein one of said modules is configured to receive a digitalwaveform signal from said bus, modify the voltage levels of saidwaveform signal to create a modified waveform signal, and provide saidmodified waveform signal to the image pixel array of the camera head forcontrol thereof.
 4. The apparatus of claim 3 wherein a third one of saidmodules is a clock driver module.
 5. The apparatus of claim 1 wherein athird one of said modules is a service module.
 6. The apparatus of claim1 wherein a third one of said modules is an output module.
 7. Theapparatus of claim 1 wherein at least one of said modules communicateswith at least one other of said modules using I²C Serial protocol onsaid bus.
 8. The apparatus of claim 1 wherein at least one of saidmodules receives RS-232 Serial data from said bus.
 9. The apparatus ofclaim 1 wherein said interfaces are pins.
 10. The apparatus of claim 1wherein said interfaces are sleeves configured to accept pins.
 11. Theapparatus of claim 1 wherein said interfaces are members of an edgeconnector.
 12. The apparatus of claim 1 wherein said interfaces aregrooves configured to accept members of an edge connector.
 13. Theapparatus of claim 1 wherein at least one of said modules receives powerfrom said bus supplied by a power supply connected to said bus.
 14. Theapparatus of claim 1 wherein the plurality of modules comprises: acommand module; a clock driver module; an input module; an outputmodule; and a service module.
 15. The apparatus of claim 1 wherein asignal available at one of said plurality of interfaces of one of saidplurality of connectors is available at one of said plurality ofinterfaces of each of the other said connectors.
 16. The apparatus ofclaim 1 wherein any signal communicated on said bus is available to eachof the plurality of modules.
 17. The apparatus of claim 1 wherein eachconductor of said bus and any signal thereon is available to each ofsaid modules.
 18. The apparatus of claim 1 wherein said plurality ofconnectors are identically-configured.
 19. The apparatus of claim 1wherein the bus is formed on a circuit board.
 20. The apparatus of claim19 wherein the circuit board has seven connectors.
 21. The apparatus ofclaim 19 wherein the circuit board has ten connectors.
 22. The apparatusof claim 19 wherein the circuit board has fifteen connectors.
 23. Theapparatus of claim 19 wherein the circuit board has twenty-oneconnectors.
 24. The apparatus of claim 19 wherein the circuit boardconforms to a standard 3U 160-millimeter form factor.
 25. The apparatusof claim 1 wherein the bus comprises a ribbon cable.
 26. The apparatusof claim 1 wherein the bus comprises ninety-six conductors.
 27. Theapparatus of claim 1 wherein the plurality of modules communicate withone another exclusively on said bus.
 28. The apparatus of claim 1wherein the apparatus is configured to control a first image pixel arrayand a second image pixel array simultaneously.
 29. The apparatus ofclaim 28 wherein the first and second image arrays are used forthree-dimensional imaging.